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LAUNCHXL2-TMS57012: Downloading programs into flash from CAN channel TMS570 Hercule MCU

Part Number: LAUNCHXL2-TMS57012

Tool/software:

I am trying to find out if it is possible to download programs into flash from the CAN channel for the TMS570LS12x.

In addition, if we can download the programs as such, do we need to store a bootloader in memory?